EP2498928B1 - Production system, in particular for free-form bending, having an integrated workpiece and tool manipulator - Google Patents

Description

The invention relates to a production plant, in particular for the free-form bending of workpieces to be produced from sheet metal, as described in claim 1.

From the EP 1 862 255 A1 a tool change system for a bending tool has become known in which a separate manipulator is provided for manipulating the bending tool. This has a pin-shaped approach, which is used in a separate recess of the bending tool for manipulation. For this purpose, a specially trained manipulator pin is needed, which is used exclusively for manipulating the bending tool. Furthermore, the clamping of the bending tool during its mounting in the tool receptacles can be achieved either via this manipulator pin or via an additional manipulator pin. This can either be done mechanically by the additional additional manipulator pin, or else by a pressure medium-actuated release, starting from the first manipulator pin.

The JP 06-234018 describes another tool changing system for bending tools, in which a separate gripper for the manipulation of the sheet is provided for forming the workpieces. The manipulation of the bending tools is carried out with an additional manipulation element, which has two mutually distanced peg-shaped projections, which are used in the same opposite recesses of the bending tool for manipulating the same. In this embodiment, it is not possible to use the same gripper fingers, as they are used for the manipulation of the sheet, for the manipulation of the bending tool.

The JP 05-293552 describes a tool change system with different attachments for the manipulator. With one of the essays, it is possible to grip and hold the sheets for manipulation to the finished tool, with another essay, the bending tools can be detected and manipulated on protruding elements. Again, different attachments for manipulating the workpieces and the bending tools are necessary.

From the EP 1 160 024 A1 Another tool change system has become known in which a passage opening is formed in the bending tool into which a separate gripping arm can be inserted and passed. On the one hand the relative positioning takes place via an attachment of the gripping arm and, with a support arm adjustably guided in the axial direction of the recess, the release of the clamping mechanism in the region of the head part of the bending tool. Again, a separate manipulator arm for the manipulation of the bending tool is again necessary.

The present invention has for its object to design a tool changing system for bending tools of a manufacturing facility such that the bending tools can be changed automatically in a simple manner, while the adaptation can be carried out with little effort and cost.

This object of the invention is solved by the features of claim 1. The advantage resulting from the features of claim 1 lies in the fact that by arranging and attaching a recess in the bending tool and by appropriate design of the ends of the gripper fingers of the manipulator the possibility is created with the same gripper fingers not only the sheet to be machined through to finished workpiece, but also the bending tool so that you can hold and manipulate. The choice of the recess in the region of the bending tool no additional and above this projecting parts are necessary for the manipulation here. By appropriate design of the recess and no special tools for insertion into the recess are necessary in order to manipulate this so. As a result, on the one hand by a simple clamping movement of the two gripper fingers in a direction of movement to each other, the sheet or the workpiece to be formed from it to be formed and on the other hand, only by an oppositely oriented direction of movement with the same gripper fingers held and manipulating the bending tool. Thus, it is no longer necessary to provide for the manipulation of bending tools either own manipulators at all, or even to have specially trained gripper fingers or manipulation tools to produce, which in turn are to be used separately.

Also advantageous is a further embodiment according to claim 2, since characterized in conjunction with the gripper fingers of the gripping tongs sufficient support of the bending tool is guaranteed even when tilting. In addition, while a similar holding or clamping position is taken, as this takes place in the normal usual clamping of the sheets.

Another advantage is an embodiment according to claim 3, since such a clear pre-centering is already achieved shortly before the termination of the clamping operation and thereby additionally a rotation between the gripping fingers and the bending tool can be created.

Due to the design according to claim 4, it is possible that so directly and without complicated Verwinkelungen the manipulator replacement of the tool holders held in the bending tools is made possible.

According to another embodiment variant according to claim 5 almost tilting moments free support and holding the bending tool is achieved on the gripper fingers.

Also advantageous is a development according to claim 6, since a certain tolerance is created within which the gripping fingers can be inserted into the recess of the bending tool and clamped thereto.

In the embodiment according to claim 7 it is advantageous that thereby the machining for the formation of the recess can be considerably simplified and made more cost-effective

Through the development according to claim 8 it is achieved that an approximately cut-like abutment of the support region is achieved on the outside of the gripper fingers and so the slipping or sliding of the bending tool is made difficult by the gripper fingers. In addition, a certain positive locking or coupling against each other can be achieved with a corresponding counter-training of the contact surfaces of the gripper fingers.

Due to the design according to claim 9, a universal handling and manipulation of the bending tool can be achieved.

Also advantageous is an embodiment according to claim 10, as this can be detected and held on both sides of the bending tool, whereby the manipulation is significantly simplified.

Finally, a further development, as described in claim 11, advantageous because even better mutual centering can be achieved during the holder.

For a better understanding of the invention, this will be explained in more detail with reference to the following figures.

Fig. 1

eine Biegepresse der erfindungsgemäßen Fertigungsanlage, in Ansicht;

Fig. 2

die Biegepresse nach Fig. 1 in Seitenansicht und einem schematisch angedeuteten Manipulator;

Fig. 3

die Greifzange des Manipulators nach Fig. 2, in vergrößerter Darstellung;

Fig. 4

einen Teilabschnitt der Biegepresse nach den Fig. 1 und 2 im Bereich deren Biegewerkzeuge, in Seitenansicht und vergrößerter Darstellung;

Fig. 5

den Biegestempel der Biegepresse nach Fig. 4. in Ansicht gemäß Pfeil V in Fig. 4;

Fig. 6

einen Teilabschnitt eines weiteres Biegewerkzeug mit einer anderen Ausbildung einer Ausnehmung, in Seitenansicht und vergrößerter Darstellung;

Fig. 7

das Biegewerkzeug nach Fig. 6, in Ansicht.

Each shows in a highly schematically simplified representation:

Fig. 1

a bending press of the manufacturing plant according to the invention, in view;

Fig. 2

the bending press after Fig. 1 in side view and a schematically indicated manipulator;

Fig. 3

the tongs of the manipulator after Fig. 2 in an enlarged view;

Fig. 4

a section of the bending press after the Fig. 1 and 2 in the area of their bending tools, in side view and enlarged view;

Fig. 5

after the bending punch of the bending press Fig. 4 , in view according to arrow V in Fig. 4 ;

Fig. 6

a section of another bending tool with a different configuration of a recess, in side view and enlarged view;

Fig. 7

the bending tool after Fig. 6 , in view.

By way of introduction, it should be noted that in the differently described embodiments, the same parts are given the same reference numerals or the same component designations, with the disclosures contained throughout the description referring to Parts with the same reference numerals or the same component names can be transferred. Also, the position information selected in the description, such as top, bottom, side, etc. related to the immediately described and illustrated figure and are to be transferred to a new position analogous to the new situation. Furthermore, individual features or combinations of features from the different exemplary embodiments shown and described can also represent independent, inventive or inventive solutions.

All statements on ranges of values in the description of the present invention should be understood to include any and all sub-ranges thereof, e.g. is the statement 1 to 10 to be understood that all sub-areas, starting from the lower limit 1 and the upper limit 10 are included, ie. all subareas begin with a lower bound of 1 or greater and end at an upper bound of 10 or less, for example, 1.7 to 1.7, or 3.2 to 8.1, or 5.5 to 10.

In the Fig. 1 and 2 is a manufacturing plant 1 for the free-form bending of sheet metal to be produced workpieces 2 shown in a highly schematically simplified representation.

The production plant 1 comprises a bending press 3, in particular a press brake, for producing the workpieces 2 or workpieces between bending tools 4 which are adjustable relative to one another, such as bending dies 5 and bending dies 6.

A machine frame 7 of the bending press 3 consists for example of a bottom plate 8 on the vertically upstanding, spaced from each other and aligned parallel side cheeks 9,10 are arranged. These are preferably connected to each other by a solid, formed for example from a sheet metal part cross member 11 at their distance from the bottom plate 8 end portions.

The side cheeks 9, 10 are approximately C-shaped in order to form a free space for forming the workpiece 2, with a stationary press beam 13, in particular a table beam, standing on front end faces 12 of legs of the side cheeks 9, 10 fixed to the bottom , At front end faces 14 of the legs removed from the bottom plate 8 is in linear guides 15 a to the table beam forming press bar thirteenth relatively adjustable further press bar 16, in particular a pressure bar, guided guided. On opposite, mutually parallel end surfaces 17, 18 of the two press bars 13, 16 tool holders 19, 20 are arranged for assembly with the bending tools 4.

The bending press 3 shown has, as a drive arrangement 21 for the adjustable press beam 16, namely the pressure bar, two electrically driven drive means 22, which are line connected to a fed from a power grid 23 control device 24. By way of example, the operation of the bending press 3 is controlled via a line-connected input terminal 25 connected to the control device 24.

The drive means 22 are electromotive spindle drives 26, as they are generally known, of which adjusting means 27 for a reversible actuating movement of the upper beam bar 16 formed by the pressure bar with this, for example, are drive-connected.

Further details required for the operation of such a bending press 3, such as safety devices, stop arrangements, control and measuring devices are omitted in the subject description to avoid unnecessary length of the description.

Furthermore, the manufacturing plant 1 also includes a simplified here in the Fig. 2 shown manipulator 28, which at least a piece thereof removes from a schematically indicated supply stack 29 of sheets to be deformed or abzukantenden and spends in the workspace of the bending press 3. The manipulator 28 in turn comprises a gripping tongs 30, shown in a simplified manner, which in turn has gripping fingers 31, 32. The gripping fingers 31, 32 each have clamping surfaces 33, 34 on the side facing the workpiece 2 to be produced. By a corresponding pivoting of the gripping fingers 31, 32 against each other and applying a sufficient clamping force, the sheet metal or the workpiece to be manufactured 2 is held by the manipulator 28 and moved accordingly as well as positioned on the interaction of the clamping surfaces 33, 34. With the gripper fingers 31, 32 of the gripper 30 is a corresponding gripping and later in consequence conditioned by the clamping movement ensures sufficient support for the workpiece 2 to be produced from the sheet metal.

Furthermore, it is shown here in simplified form that the bending tools 4, in particular the bending punch 5 and / or the bending die 6, have their own recesses 35, 36 for manipulating the same. Manipulating the bending tool 4 is understood to mean that it is automatically removed from a tool store not shown here and automatically inserted into the tool holders 19, 20 of the press beams 13, 16. It can also be spoken of a tool change system. For exchanging corresponding bending tools 4, after the clamping holding of the bending tools 4, these are in turn pushed out of the tool holders 19, 20, for the most part in the longitudinal direction thereof, and are replaced by other bending tools 4. In this case, the bending tools to be exchanged 4 are brought back into the tool depot and stored sorted to be removed there later for another bending process and used in the tool holder 19, 20. The recesses 35, 36 in the bending tool 4 are used for this purpose. The clamping holding of the individual bending tools 4 takes place here in cooperation of the recesses 35, 36 arranged in the bending tool 4 with the gripping fingers 31, 32 of the gripping tongs 30.

In the Fig. 3 is the previously shown schematically gripping tongs 30 has been shown on a larger scale for the sake of clarity again and shows the two gripping fingers 31, 32 with the facing clamping surfaces 33, 34. There are again for the same parts the same reference numerals or component names as in the previous Fig. 1 and 2 used. In order to avoid unnecessary repetition, the detailed description in the previous ones will be used Fig. 1 and 2 referred or referred.

The workpiece 2 to be produced from the sheet metal is here shown in clamping position between the two gripping fingers 31, 32 and adjacent to the two clamping surfaces 33, 34. In this example shown here, the gripping finger 31 is fixed, for example, and the further gripping finger 32 is pivotably mounted on a manipulator arm 37 for this purpose. The pivoting movement takes place in a predeterminable plane, wherein the pivoting direction is indicated by means of a double arrow. But it would also be possible to pivot both gripping fingers 31, 32 against each other.

In order to grip and hold not only the sheet to form the workpiece 2 with the same gripping tongs 30, it is provided here to be able to carry out the manipulation of the bending tools 4 with it. For this purpose, an additional contact surface 40 is provided at each end 38, 39 of the two gripping fingers 31, 32 on the mutually averted sides of the clamping surfaces 33, 34.

In order to achieve a clamping effect of the sheet for the formation of the workpiece 2, one or both gripping fingers 31, 32 of the gripping tongs 30 are moved towards each other, so that the distance between the clamping surfaces 33, 34 is reduced to such an extent that the sheet metal with its thickness resp Thickness gets trapped in between.

For manipulation of the bending tools 4, the ends 38, 39 of the gripping fingers 31, 32 are inserted into the recesses 35 or 36 of the bending tool 4 and achieved in the opposite direction with respect to the clamping action of the workpiece 2, the clamping bracket on the bending tool 4. The description of the possible design of the recess 35, 36 is detailed in the following figures.

In the Fig. 4 and 5 is a possible and possibly independent embodiment of the bending tool 4 is shown, again for like parts, the same reference numerals or component names as in the preceding Fig. 1 to 3 be used. In order to avoid unnecessary repetition, the detailed description in the previous ones will be used Fig. 1 to 3 referred or referred.

How now from a synopsis of Fig. 4 and 5 with the Fig. 2 can be seen, the bending tools 4 each have a head portion 41 which is inserted into a clamping region 42 in the tool holders 19, 20. For this purpose, the tool holders 19, 20 on a receiving slot 43. Each of the bending tools 4 illustrated here further comprises an end region 44 which is distanced from the head part 41 and defines a bending region 45 in the longitudinal extent of the bending tool 4. A tool arm 46 extends between the head part 41 and the end region 44 of the bending tool 4. In the present exemplary embodiment, in the case of the bending tool 4 forming the bending tool 4, the tool arm 46 is formed by a plurality of unspecified legs.

The two previously described tool holders 19, 20 of the press beams 13, 16 receive the head portion 41 of the bending tool or tools 4 and these are held interchangeable there.

When the bending die 6 forming bending tool 4, the tool arm between its head portion 41 and the end portion 44 in contrast to the tool arm 46 of the punch 5 is formed short and stocky.

The bending tools 4 formed by the bending punch 5 and the bending die 6 are limited in their spatial form by this limiting side walls 47 and in the longitudinal extent thereof distanced end walls 48.

The recess 35 shown here in the area of one of the side walls 47 of the bending tool 4 designed as a bending punch 5 has abutment areas 49, 50 spaced apart from one another. In this embodiment shown here, the two stop regions 49, 50 in the normal position of use of the bending tool 4, in particular the bending punch 5, vertically aligned one above the other or in a vertical plane to each other. Each of the stop regions 49, 50 in turn comprises at least one own stop surface 51, 52. The spatial form of the stop region 49, 50 or the stop surfaces 51, 52 delimited by these can be designed as desired. Preferably, these may be formed opposite to the contact surfaces 40 of the previously described gripping fingers 31, 32. In this embodiment shown here, the two stop surfaces 51, 52 are curved curved. The two stop regions 49, 50 are preferably arranged in a reference plane 53, which is aligned in the vertical direction with respect to the bending region 45. Furthermore, this reference plane 53 is also aligned perpendicular to the longitudinal extension of the bending tool 4 here. Thus, in this exemplary embodiment shown here, the two stop regions 49, 50 are distanced from one another in the vertical direction with respect to the bending region 45.

For clamping support of the bending tool 4 by the gripping tongs 30 of the manipulator 28, the ends 38, 39 of the gripping fingers 31, 32 are inserted into the recess 35, 36. By corresponding spreading of the gripping fingers 31, 32 in the opposite direction with respect to the clamping force for holding the workpiece 2 to be produced, the two come on the gripper fingers 31, 32 outer contact surfaces 40 of the abutment against the two stop regions 49, 50th

This makes it possible, without additional tooling or additional manipulation means, the bending tool 4 by the same gripping fingers 31, 32 of the manipulator 28 detect and hold, as they are used for the support and manipulation of the sheet to form the workpiece 2 , It is also advantageous that no additional components, such as pins, bolts, ribs or the like, on the bending tool 4 for its manipulation by the gripping fingers 31, 32 must be attached. The attachment of the recess 35, 36 may be accomplished by a simple machining operation, such as a machining operation. a milling process done. To maintain the corresponding strength properties of the bending tool 4, attention must be paid to the arrangement and size of the recesses 35, 36.

In order to achieve an oriented mounting of the bending tool 4 in cooperation of the gripping fingers 31, 32 with the recesses 35, 36, it is advantageous if the abutment surfaces 51 and 52 of a stop area 49, 50 on the side facing away from the other stop area 50, 49 side are aligned tapered. Such a possible training is in the Fig. 5 indicated by dashed lines. As a result, a self-centering of the two contact surfaces 40 on the abutment surfaces 51, 52 associated therewith is achieved. This not only a perfect clamping achieved but also an oriented holder already achieved starting from the recording process of the bending tool 4 to the final positioning in the tool holders 19, 20 and the tool depot. For this purpose, the contact surfaces 40 formed on the gripper fingers 31, 32 can be formed opposite to the stop regions 49, 50, in particular their abutment surfaces 51, 52.

The recesses 35, 36 are preferably arranged in at least one side wall 47 of the bending tool 4 that extends parallel with respect to the bending region 45. With a corresponding strength of the bending tool 4, the recess 35, 36 could also be arranged in at least one of the end walls 48. In order to avoid an eccentric mounting of the bending tool 4 on the gripper fingers 31, 32, it is advantageous if the recesses 35, 36 are preferably arranged centrally between the two end walls 48 distanced from one another in the longitudinal direction. This is a centric arrangement of the stop areas 49, 50 of the recess 35, 36 achieved with respect to the longitudinal extension of the bending tool 4.

In the 6 and 7 is a possible and possibly independent embodiment of the bending tool 4 is shown, again for like parts, the same reference numerals or component names as in the preceding Fig. 1 to 5 be used. In order to avoid unnecessary repetition, the detailed description in the previous ones will be used Fig. 1 to 5 referred or referred.

In this embodiment shown here, a bending punch 5 has again been selected as the bending tool 4. The recess 35 shown here for interacting with the gripper fingers 31, 32 of the gripping tongs 30 extends in the longitudinal direction of the bending tool 4. A preferred parallel alignment with respect to the bending region 45 is advantageous. The recess 35 may further be arranged not only in one of the side walls 47 but also opposite one another. Preferably, the recess 35 also extends continuously over the entire longitudinal extent of the bending tool 4 between the two end walls 48. Thus, the recess 35 may be formed groove-shaped. Seen in cross-section, the recess 35 may be formed dovetail-shaped. This means that, starting from a groove base, the stop faces 51, 52 delimiting the recess 35 are formed toward each other in the direction of the side walls 47.

It is advantageous if a plurality of recesses 35, 36 are provided in the bending tool 4 in order to be able to grip and grasp the bending tool 4 from different positions. For this purpose, the recesses 35, 36 may be arranged or formed in opposite side walls 47 of the bending tool 4.

This arrangement of the recess 35, 36 described here but can also in the in the Fig. 4 and 5 illustrated embodiment can be selected. Then the abutment regions 49, 50 would be distanced from each other in a parallel direction with respect to the longitudinal extension of the bending tool 4. In this case, then the clamping holders can be carried out by the mutually spread gripping fingers 31, 32, but to a relation to the holder described above rotated by 90 ° alignment.

The embodiments show possible embodiments of the manufacturing plant 1, in particular the bending tools 4 with the co-operating gripper fingers 31, 32, it being noted at this point that the invention is not limited to the specifically illustrated embodiments thereof, but rather also various combinations of the individual embodiments are possible with each other and this possibility of variation due to the teaching of technical action by objective invention in the skill of working in this technical field expert. So are all conceivable embodiments, which are possible by combinations of individual details of the illustrated and described embodiment variant, includes the scope of protection.

For the sake of order, it should finally be pointed out that in order to better understand the construction of the production plant 1, these or their components have been shown partly unevenly and / or enlarged and / or reduced in size.

The task underlying the independent inventive solutions can be taken from the description.

Above all, the individual in the Fig. 1 . 2 ; 3 ; 4 . 5 ; 6; 7 shown embodiments form the subject of independent solutions according to the invention. The relevant objects and solutions according to the invention can be found in the detailed descriptions of these figures. <B> Reference Numbers </ b> 1 manufacturing plant 41 headboard 2 workpiece 42 clamping range 3 bending press 43 receiving slot 4 bending tool 44 end 5 punch 45 bending area 6 bending die 46 tool arm 7 machine frame 47 Side wall 8th baseplate 48 bulkhead 9 side cheek 49 stop area 10 side cheek 50 stop area 11 cross-dressing 51 stop surface 12 Front face 52 stop surface 13 press beams 53 reference plane 14 Front face 15 linear guide 16 press beams 17 face 18 face 19 tool holder 20 tool holder 21 drive arrangement 22 drive means 23 energy grid 24 control device 25 input terminal 26 spindle drive 27 actuating means 28 manipulator 29 stockpile 30 tongs 31 gripping fingers 32 gripping fingers 33 clamping surface 34 clamping surface 35 recess 36 recess 37 manipulator 38 The End 39 The End 40 contact area

Claims (11)

1. Production system (1), in particular for the free-form bending of workpieces (2) to be produced from sheet metal, comprising

   - a bending press (3), in particular a press brake, with pressing beams (13, 16) and tool holders (19, 20),

   - at least one bending tool (4), such as a bending punch (5) or bending die (6), with a headpiece (41) and an end region (44) spaced apart from it, which defines a bending region (45) in the longitudinal extension of the bending tool (4), and with a tool arm (46) extending between the headpiece (41) and end region (44), and the headpiece (41) is interchangeably held in the tool holders (19, 20) of the pressing beams (13, 16), and the bending tool (4) has side walls (47) and end walls (48) bounding it,

   - a manipulator (28) with gripping tongs (30) having gripping fingers (31, 32), and the two gripping fingers (31, 32) have clamping surfaces (33, 34) on the sides facing the workpiece (2) to be produced to enable the workpiece (2) to be produced to be gripped and held,

   - at least one recess (35, 36) disposed in the bending tool (4) for manipulating the bending tool (4),

   characterized in that

   - additional contact surfaces (40) are provided on ends (38, 39) of the gripping fingers (31, 32) on sides of the clamping surfaces (33, 34) respectively facing away from one another,

   - the recess (35, 36) has stop regions (49, 50) spaced at a distance apart from one another, and the ends (38, 39) of the gripping fingers (31, 32) are inserted in the recess (35, 36) in order to produce a clamping hold of the bending tool (4),

   - the contact surfaces (40) of the gripping fingers (31, 32) are pressed against the stop regions (49, 50) in the direction opposite the clamping force for holding the workpiece (2) to be produced.
2. Production system (1) according to claim 1, characterized in that the stop regions (49, 50) are spaced at a distance apart from one another in the direction perpendicular to the bending region (45).
3. Production system (1) according to claim 1 or 2, characterized in that each of the stop regions (49, 50) has contact surfaces (51, 52), and the contact surfaces (51, 52) of a stop region (49, 50) extend towards one another on the side facing away from the other stop region (50, 49).
4. Production system (1) according to one of the preceding claims, characterized in that the recess (35, 36) is disposed in at least one side wall (47) of the bending tool (4) extending parallel with the bending region (45).
5. Production system (1) according to one of the preceding claims, characterized in that the stop regions (49, 50) of the recess (35, 36) are disposed centrally relative to the longitudinal extension of the bending tool (4).
6. Production system (1) according to one of the preceding claims, characterized in that the recess (35, 36) extends in the longitudinal direction of the bending tool (4).
7. Production system (1) according to claim 6, characterized in that the recess (35, 36) extends continuously across the entire longitudinal extension of the bending tool (4).
8. Production system (1) according to one of the preceding claims, characterized in that the recess (35, 36) is of a groove-shaped design and has a dovetail shape as viewed in cross-section.
9. Production system (1) according to one of the preceding claims, characterized in that several recesses (35, 36) are provided in the bending tool (4).
10. Production system (1) according to one of the preceding claims, characterized in that the recesses (35, 36) are disposed in oppositely lying side walls (47) of the bending tool (4).
11. Production system (1) according to one of the preceding claims, characterized in that the contact surfaces (40) on the gripping fingers (31, 32) respectively complement the stop regions (49, 50) of the bending tool (4).

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